/*
 * $Id: itasc_plugin.cpp 35814 2011-03-27 07:56:29Z campbellbarton $
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
 * All rights reserved.
 *
 * The Original Code is: all of this file.
 *
 * Original author: Benoit Bolsee
 * Contributor(s): 
 *
 * ***** END GPL LICENSE BLOCK *****
 */

/** \file blender/ikplugin/intern/itasc_plugin.cpp
 *  \ingroup ikplugin
 */


#include <stdlib.h>
#include <string.h>
#include <vector>

// iTaSC headers
#ifdef WITH_IK_ITASC
#include "Armature.hpp"
#include "MovingFrame.hpp"
#include "CopyPose.hpp"
#include "WSDLSSolver.hpp"
#include "WDLSSolver.hpp"
#include "Scene.hpp"
#include "Cache.hpp"
#include "Distance.hpp"
#endif

#include "MEM_guardedalloc.h"

extern "C" {
#include "BIK_api.h"
#include "BLI_blenlib.h"
#include "BLI_math.h"
#include "BLI_utildefines.h"

#include "BKE_global.h"
#include "BKE_armature.h"
#include "BKE_action.h"
#include "BKE_utildefines.h"
#include "BKE_constraint.h"
#include "DNA_object_types.h"
#include "DNA_action_types.h"
#include "DNA_constraint_types.h"
#include "DNA_armature_types.h"
#include "DNA_scene_types.h"
};

#include "itasc_plugin.h"

// default parameters
bItasc DefIKParam;

// in case of animation mode, feedback and timestep is fixed
#define ANIM_TIMESTEP	1.0
#define ANIM_FEEDBACK	0.8
#define ANIM_QMAX		0.52


// Structure pointed by bPose.ikdata
// It contains everything needed to simulate the armatures
// There can be several simulation islands independent to each other
struct IK_Data
{
	struct IK_Scene* first;
};

typedef float Vector3[3];
typedef float Vector4[4];
struct IK_Target;
typedef void (*ErrorCallback)(const iTaSC::ConstraintValues* values, unsigned int nvalues, IK_Target* iktarget);
// For some reason, gcc doesn't find the declaration of this function in linux
void KDL::SetToZero(JntArray& array);

// one structure for each target in the scene
struct IK_Target
{
	struct Scene			*blscene;
	iTaSC::MovingFrame*		target;
	iTaSC::ConstraintSet*	constraint;
	struct bConstraint*		blenderConstraint;
	struct bPoseChannel*    rootChannel;
	Object*					owner;			//for auto IK
	ErrorCallback			errorCallback;
	std::string				targetName;
	std::string				constraintName;
	unsigned short			controlType;
	short					channel;		//index in IK channel array of channel on which this target is defined
	short					ee;				//end effector number
	bool					simulation;		//true when simulation mode is used (update feedback)
	bool					eeBlend;		//end effector affected by enforce blending
	float					eeRest[4][4];	//end effector initial pose relative to armature

	IK_Target() {
		blscene = NULL;
		target = NULL;
		constraint = NULL;
		blenderConstraint = NULL;
		rootChannel = NULL;
		owner = NULL;
		controlType = 0;
		channel = 0;
		ee = 0;
		eeBlend = true;
		simulation = true;
		targetName.reserve(32);
		constraintName.reserve(32);
	}
	~IK_Target() {
		if (constraint)
			delete constraint;
		if (target)
			delete target;
	}
};

struct IK_Channel {
	bPoseChannel*	pchan;		// channel where we must copy matrix back
	KDL::Frame		frame;		// frame of the bone relative to object base, not armature base
	std::string		tail;		// segment name of the joint from which we get the bone tail
	std::string     head;		// segment name of the joint from which we get the bone head
	int				parent;		// index in this array of the parent channel
	short			jointType;	// type of joint, combination of IK_SegmentFlag
	char			ndof;		// number of joint angles for this channel
	char			jointValid;	// set to 1 when jointValue has been computed
	// for joint constraint
	Object*			owner;				// for pose and IK param
	double			jointValue[4];		// computed joint value

	IK_Channel() {
		pchan = NULL;
		parent = -1;
		jointType = 0;
		ndof = 0;
		jointValid = 0;
		owner = NULL;
		jointValue[0] = 0.0;
		jointValue[1] = 0.0;
		jointValue[2] = 0.0;
		jointValue[3] = 0.0;
	}
};

struct IK_Scene
{
	struct Scene		*blscene;
	IK_Scene*			next;
	int					numchan;	// number of channel in pchan
	int					numjoint;	// number of joint in jointArray
	// array of bone information, one per channel in the tree
	IK_Channel*			channels;
	iTaSC::Armature*	armature;
	iTaSC::Cache*		cache;
	iTaSC::Scene*		scene;
	iTaSC::MovingFrame* base;		// armature base object
	KDL::Frame			baseFrame;	// frame of armature base relative to blArmature
	KDL::JntArray		jointArray;	// buffer for storing temporary joint array
	iTaSC::Solver*		solver;
	Object*				blArmature;
	struct bConstraint*	polarConstraint;
	std::vector<IK_Target*>		targets;

	IK_Scene() {
		blscene = NULL;
		next = NULL;
		channels = NULL;
		armature = NULL;
		cache = NULL;
		scene = NULL;
		base = NULL;
		solver = NULL;
		blArmature = NULL;
		numchan = 0;
		numjoint = 0;
		polarConstraint = NULL;
	}

	~IK_Scene() {
		// delete scene first
		if (scene)
			delete scene;
		for(std::vector<IK_Target*>::iterator it = targets.begin();	it != targets.end(); ++it)
			delete (*it);
		targets.clear();
		if (channels)
			delete [] channels;
		if (solver)
			delete solver;
		if (armature)
			delete armature;
		if (base)
			delete base;
		// delete cache last
		if (cache)
			delete cache;
	}
};

// type of IK joint, can be combined to list the joints corresponding to a bone
enum IK_SegmentFlag {
	IK_XDOF = 1,
	IK_YDOF = 2,
	IK_ZDOF = 4,
	IK_SWING = 8,
	IK_REVOLUTE = 16,
	IK_TRANSY = 32,
};

enum IK_SegmentAxis {
	IK_X = 0,
	IK_Y = 1,
	IK_Z = 2,
	IK_TRANS_X = 3,
	IK_TRANS_Y = 4,
	IK_TRANS_Z = 5
};

static int initialize_chain(Object *ob, bPoseChannel *pchan_tip, bConstraint *con)
{
	bPoseChannel *curchan, *pchan_root=NULL, *chanlist[256], **oldchan;
	PoseTree *tree;
	PoseTarget *target;
	bKinematicConstraint *data;
	int a, t, segcount= 0, size, newsize, *oldparent, parent, rootbone, treecount;

	data=(bKinematicConstraint*)con->data;
	
	/* exclude tip from chain? */
	if(!(data->flag & CONSTRAINT_IK_TIP))
		pchan_tip= pchan_tip->parent;
	
	rootbone = data->rootbone;
	/* Find the chain's root & count the segments needed */
	for (curchan = pchan_tip; curchan; curchan=curchan->parent){
		pchan_root = curchan;
		
		if (++segcount > 255)		// 255 is weak
			break;

		if(segcount==rootbone){
			// reached this end of the chain but if the chain is overlapping with a 
			// previous one, we must go back up to the root of the other chain
			if ((curchan->flag & POSE_CHAIN) && curchan->iktree.first == NULL){
				rootbone++;
				continue;
			}
			break; 
		}

		if (curchan->iktree.first != NULL)
			// Oh oh, there is already a chain starting from this channel and our chain is longer... 
			// Should handle this by moving the previous chain up to the begining of our chain
			// For now we just stop here
			break;
	}
	if (!segcount) return 0;
	// we reached a limit and still not the end of a previous chain, quit
	if ((pchan_root->flag & POSE_CHAIN) && pchan_root->iktree.first == NULL) return 0;

	// now that we know how many segment we have, set the flag
	for (rootbone = segcount, segcount = 0, curchan = pchan_tip; segcount < rootbone; segcount++, curchan=curchan->parent) {
		chanlist[segcount]=curchan;
		curchan->flag |= POSE_CHAIN;
	}

	/* setup the chain data */
	/* create a target */
	target= (PoseTarget*)MEM_callocN(sizeof(PoseTarget), "posetarget");
	target->con= con;
	// by contruction there can be only one tree per channel and each channel can be part of at most one tree.
	tree = (PoseTree*)pchan_root->iktree.first;

	if(tree==NULL) {
		/* make new tree */
		tree= (PoseTree*)MEM_callocN(sizeof(PoseTree), "posetree");

		tree->iterations= data->iterations;
		tree->totchannel= segcount;
		tree->stretch = (data->flag & CONSTRAINT_IK_STRETCH);
		
		tree->pchan= (bPoseChannel**)MEM_callocN(segcount*sizeof(void*), "ik tree pchan");
		tree->parent= (int*)MEM_callocN(segcount*sizeof(int), "ik tree parent");
		for(a=0; a<segcount; a++) {
			tree->pchan[a]= chanlist[segcount-a-1];
			tree->parent[a]= a-1;
		}
		target->tip= segcount-1;
		
		/* AND! link the tree to the root */
		BLI_addtail(&pchan_root->iktree, tree);
		// new tree
		treecount = 1;
	}
	else {
		tree->iterations= MAX2(data->iterations, tree->iterations);
		tree->stretch= tree->stretch && !(data->flag & CONSTRAINT_IK_STRETCH);

		/* skip common pose channels and add remaining*/
		size= MIN2(segcount, tree->totchannel);
		a = t = 0;
		while (a<size && t<tree->totchannel) {
			// locate first matching channel
			for (;t<tree->totchannel && tree->pchan[t]!=chanlist[segcount-a-1];t++);
			if (t>=tree->totchannel)
				break;
			for(; a<size && t<tree->totchannel && tree->pchan[t]==chanlist[segcount-a-1]; a++, t++);
		}
		parent= a-1;
		segcount= segcount-a;
		target->tip= tree->totchannel + segcount - 1;

		if (segcount > 0) {
			/* resize array */
			newsize= tree->totchannel + segcount;
			oldchan= tree->pchan;
			oldparent= tree->parent;

			tree->pchan= (bPoseChannel**)MEM_callocN(newsize*sizeof(void*), "ik tree pchan");
			tree->parent= (int*)MEM_callocN(newsize*sizeof(int), "ik tree parent");
			memcpy(tree->pchan, oldchan, sizeof(void*)*tree->totchannel);
			memcpy(tree->parent, oldparent, sizeof(int)*tree->totchannel);
			MEM_freeN(oldchan);
			MEM_freeN(oldparent);

			/* add new pose channels at the end, in reverse order */
			for(a=0; a<segcount; a++) {
				tree->pchan[tree->totchannel+a]= chanlist[segcount-a-1];
				tree->parent[tree->totchannel+a]= tree->totchannel+a-1;
			}
			tree->parent[tree->totchannel]= parent;
			
			tree->totchannel= newsize;
		}
		// reusing tree
		treecount = 0;
	}

	/* add target to the tree */
	BLI_addtail(&tree->targets, target);
	/* mark root channel having an IK tree */
	pchan_root->flag |= POSE_IKTREE;
	return treecount;
}

static bool is_cartesian_constraint(bConstraint *con)
{
	//bKinematicConstraint* data=(bKinematicConstraint*)con->data;

	return true;
}

static bool constraint_valid(bConstraint *con)
{
	bKinematicConstraint* data=(bKinematicConstraint*)con->data;

	if (data->flag & CONSTRAINT_IK_AUTO)
		return true;
	if (con->flag & CONSTRAINT_DISABLE)
		return false;
	if (is_cartesian_constraint(con)) {
		/* cartesian space constraint */
		if (data->tar==NULL) 
			return false;
		if (data->tar->type==OB_ARMATURE && data->subtarget[0]==0) 
			return false;
	}
	return true;
}

int initialize_scene(Object *ob, bPoseChannel *pchan_tip)
{
	bConstraint *con;
	int treecount;

	/* find all IK constraints and validate them */
	treecount = 0;
	for(con= (bConstraint *)pchan_tip->constraints.first; con; con= (bConstraint *)con->next) {
		if(con->type==CONSTRAINT_TYPE_KINEMATIC) {
			if (constraint_valid(con))
				treecount += initialize_chain(ob, pchan_tip, con);
		}
	}
	return treecount;
}

static IK_Data* get_ikdata(bPose *pose)
{
	if (pose->ikdata)
		return (IK_Data*)pose->ikdata;
	pose->ikdata = MEM_callocN(sizeof(IK_Data), "iTaSC ikdata");
	// here init ikdata if needed
	// now that we have scene, make sure the default param are initialized
	if (!DefIKParam.iksolver)
		init_pose_itasc(&DefIKParam);

	return (IK_Data*)pose->ikdata;
}
static double EulerAngleFromMatrix(const KDL::Rotation& R, int axis)
{
	double t = KDL::sqrt(R(0,0)*R(0,0) + R(0,1)*R(0,1));

	if (t > 16.0*KDL::epsilon) {
		if (axis == 0) return -KDL::atan2(R(1,2), R(2,2));
        else if(axis == 1) return KDL::atan2(-R(0,2), t);
        else return -KDL::atan2(R(0,1), R(0,0));
    } else {
		if (axis == 0) return -KDL::atan2(-R(2,1), R(1,1));
        else if(axis == 1) return KDL::atan2(-R(0,2), t);
        else return 0.0f;
    }
}

static double ComputeTwist(const KDL::Rotation& R)
{
	// qy and qw are the y and w components of the quaternion from R
	double qy = R(0,2) - R(2,0);
	double qw = R(0,0) + R(1,1) + R(2,2) + 1;

	double tau = 2*KDL::atan2(qy, qw);

	return tau;
}

static void RemoveEulerAngleFromMatrix(KDL::Rotation& R, double angle, int axis)
{
	// compute twist parameter
	KDL::Rotation T;
	switch (axis) {
	case 0:
		T = KDL::Rotation::RotX(-angle);
		break;
	case 1:
		T = KDL::Rotation::RotY(-angle);
		break;
	case 2:
		T = KDL::Rotation::RotZ(-angle);
		break;
	default:
		return;
	}
	// remove angle
	R = R*T;
}

#if 0
static void GetEulerXZY(const KDL::Rotation& R, double& X,double& Z,double& Y)
{
	if (fabs(R(0,1)) > 1.0 - KDL::epsilon ) {
        X = -KDL::sign(R(0,1)) * KDL::atan2(R(1,2), R(1,0));
        Z = -KDL::sign(R(0,1)) * KDL::PI / 2;
        Y = 0.0 ;
    } else {
        X = KDL::atan2(R(2,1), R(1,1));
        Z = KDL::atan2(-R(0,1), KDL::sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,2))));
        Y = KDL::atan2(R(0,2), R(0,0));
    }
}

static void GetEulerXYZ(const KDL::Rotation& R, double& X,double& Y,double& Z)
{
	if (fabs(R(0,2)) > 1.0 - KDL::epsilon ) {
        X = KDL::sign(R(0,2)) * KDL::atan2(-R(1,0), R(1,1));
        Y = KDL::sign(R(0,2)) * KDL::PI / 2;
        Z = 0.0 ;
    } else {
        X = KDL::atan2(-R(1,2), R(2,2));
        Y = KDL::atan2(R(0,2), KDL::sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,1))));
        Z = KDL::atan2(-R(0,1), R(0,0));
    }
}
#endif

static void GetJointRotation(KDL::Rotation& boneRot, int type, double* rot)
{
	switch (type & ~IK_TRANSY)
	{
	default:
		// fixed bone, no joint
		break;
	case IK_XDOF:
		// RX only, get the X rotation
		rot[0] = EulerAngleFromMatrix(boneRot, 0);
		break;
	case IK_YDOF:
		// RY only, get the Y rotation
		rot[0] = ComputeTwist(boneRot);
		break;
	case IK_ZDOF:
		// RZ only, get the Z rotation
		rot[0] = EulerAngleFromMatrix(boneRot, 2);
		break;
	case IK_XDOF|IK_YDOF:
		rot[1] = ComputeTwist(boneRot);
		RemoveEulerAngleFromMatrix(boneRot, rot[1], 1);
		rot[0] = EulerAngleFromMatrix(boneRot, 0);
		break;
	case IK_SWING:
		// RX+RZ
		boneRot.GetXZRot().GetValue(rot);
		break;
	case IK_YDOF|IK_ZDOF:
		// RZ+RY
		rot[1] = ComputeTwist(boneRot);
		RemoveEulerAngleFromMatrix(boneRot, rot[1], 1);
		rot[0] = EulerAngleFromMatrix(boneRot, 2);
		break;
	case IK_SWING|IK_YDOF:
		rot[2] = ComputeTwist(boneRot);
		RemoveEulerAngleFromMatrix(boneRot, rot[2], 1);
		boneRot.GetXZRot().GetValue(rot);
		break;
	case IK_REVOLUTE:
		boneRot.GetRot().GetValue(rot);
		break;
	}
}

static bool target_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
{
	IK_Target* target = (IK_Target*)param;
	// compute next target position
	// get target matrix from constraint.
	bConstraint* constraint = (bConstraint*)target->blenderConstraint;
	float tarmat[4][4];

	get_constraint_target_matrix(target->blscene, constraint, 0, CONSTRAINT_OBTYPE_OBJECT, target->owner, tarmat, 1.0);

	// rootmat contains the target pose in world coordinate
	// if enforce is != 1.0, blend the target position with the end effector position
	// if the armature was in rest position. This information is available in eeRest
	if (constraint->enforce != 1.0f && target->eeBlend) {
		// eeRest is relative to the reference frame of the IK root
		// get this frame in world reference
		float restmat[4][4];
		bPoseChannel* pchan = target->rootChannel;
		if (pchan->parent) {
			pchan = pchan->parent;
			float chanmat[4][4];
			copy_m4_m4(chanmat, pchan->pose_mat);
			VECCOPY(chanmat[3], pchan->pose_tail);
			mul_serie_m4(restmat, target->owner->obmat, chanmat, target->eeRest, NULL, NULL, NULL, NULL, NULL);
		} 
		else {
			mul_m4_m4m4(restmat, target->eeRest, target->owner->obmat);
		}
		// blend the target
		blend_m4_m4m4(tarmat, restmat, tarmat, constraint->enforce);
	}
	next.setValue(&tarmat[0][0]);
	return true;
}

static bool base_callback(const iTaSC::Timestamp& timestamp, const iTaSC::Frame& current, iTaSC::Frame& next, void *param)
{
	IK_Scene* ikscene = (IK_Scene*)param;
	// compute next armature base pose
	// algorithm: 
	// ikscene->pchan[0] is the root channel of the tree
	// if it has a parent, get the pose matrix from it and replace [3] by parent pchan->tail
	// then multiply by the armature matrix to get ikscene->armature base position
	bPoseChannel* pchan = ikscene->channels[0].pchan;
	float rootmat[4][4];
	if (pchan->parent) {
		pchan = pchan->parent;
		float chanmat[4][4];
		copy_m4_m4(chanmat, pchan->pose_mat);
		VECCOPY(chanmat[3], pchan->pose_tail);
		// save the base as a frame too so that we can compute deformation
		// after simulation
		ikscene->baseFrame.setValue(&chanmat[0][0]);
		mul_m4_m4m4(rootmat, chanmat, ikscene->blArmature->obmat);
	} 
	else {
		copy_m4_m4(rootmat, ikscene->blArmature->obmat);
		ikscene->baseFrame = iTaSC::F_identity;
	}
	next.setValue(&rootmat[0][0]);
	// if there is a polar target (only during solving otherwise we don't have end efffector)
	if (ikscene->polarConstraint && timestamp.update) {
		// compute additional rotation of base frame so that armature follows the polar target
		float imat[4][4];		// IK tree base inverse matrix
		float polemat[4][4];	// polar target in IK tree base frame
		float goalmat[4][4];	// target in IK tree base frame
		float mat[4][4];		// temp matrix
		bKinematicConstraint* poledata = (bKinematicConstraint*)ikscene->polarConstraint->data;

		invert_m4_m4(imat, rootmat);
		// polar constraint imply only one target
		IK_Target *iktarget = ikscene->targets[0];
		// root channel from which we take the bone initial orientation
		IK_Channel &rootchan = ikscene->channels[0];

		// get polar target matrix in world space
		get_constraint_target_matrix(ikscene->blscene, ikscene->polarConstraint, 1, CONSTRAINT_OBTYPE_OBJECT, ikscene->blArmature, mat, 1.0);
		// convert to armature space
		mul_m4_m4m4(polemat, mat, imat);
		// get the target in world space (was computed before as target object are defined before base object)
		iktarget->target->getPose().getValue(mat[0]);
		// convert to armature space
		mul_m4_m4m4(goalmat, mat, imat);
		// take position of target, polar target, end effector, in armature space
		KDL::Vector goalpos(goalmat[3]);
		KDL::Vector polepos(polemat[3]);
		KDL::Vector endpos = ikscene->armature->getPose(iktarget->ee).p;
		// get root bone orientation
		KDL::Frame rootframe;
		ikscene->armature->getRelativeFrame(rootframe, rootchan.tail);
		KDL::Vector rootx = rootframe.M.UnitX();
		KDL::Vector rootz = rootframe.M.UnitZ();
		// and compute root bone head
		double q_rest[3], q[3], length;
		const KDL::Joint* joint;
		const KDL::Frame* tip;
		ikscene->armature->getSegment(rootchan.tail, 3, joint, q_rest[0], q[0], tip);
		length = (joint->getType() == KDL::Joint::TransY) ? q[0] : tip->p(1);
		KDL::Vector rootpos = rootframe.p - length*rootframe.M.UnitY();

		// compute main directions 
		KDL::Vector dir = KDL::Normalize(endpos - rootpos);
		KDL::Vector poledir = KDL::Normalize(goalpos-rootpos);
		// compute up directions
		KDL::Vector poleup = KDL::Normalize(polepos-rootpos);
		KDL::Vector up = rootx*KDL::cos(poledata->poleangle) + rootz*KDL::sin(poledata->poleangle);
		// from which we build rotation matrix
		KDL::Rotation endrot, polerot;
		// for the armature, using the root bone orientation
		KDL::Vector x = KDL::Normalize(dir*up);
		endrot.UnitX(x);
		endrot.UnitY(KDL::Normalize(x*dir));
		endrot.UnitZ(-dir);
		// for the polar target 
		x = KDL::Normalize(poledir*poleup);
		polerot.UnitX(x);
		polerot.UnitY(KDL::Normalize(x*poledir));
		polerot.UnitZ(-poledir);
		// the difference between the two is the rotation we want to apply
		KDL::Rotation result(polerot*endrot.Inverse());
		// apply on base frame as this is an artificial additional rotation
		next.M = next.M*result;
		ikscene->baseFrame.M = ikscene->baseFrame.M*result;
	}
	return true;
}

static bool copypose_callback(const iTaSC::Timestamp& timestamp, iTaSC::ConstraintValues* const _values, unsigned int _nvalues, void* _param)
{
	IK_Target* iktarget =(IK_Target*)_param;
	bKinematicConstraint *condata = (bKinematicConstraint *)iktarget->blenderConstraint->data;
	iTaSC::ConstraintValues* values = _values;
	bItasc* ikparam = (bItasc*) iktarget->owner->pose->ikparam;

	// we need default parameters
	if (!ikparam) 
		ikparam = &DefIKParam;

	if (iktarget->blenderConstraint->flag & CONSTRAINT_OFF) {
		if (iktarget->controlType & iTaSC::CopyPose::CTL_POSITION) {
			values->alpha = 0.0;
			values->action = iTaSC::ACT_ALPHA;
			values++;
		}
		if (iktarget->controlType & iTaSC::CopyPose::CTL_ROTATION) {
			values->alpha = 0.0;
			values->action = iTaSC::ACT_ALPHA;
			values++;
		}
	} else {
		if (iktarget->controlType & iTaSC::CopyPose::CTL_POSITION) {
			// update error
			values->alpha = condata->weight;
			values->action = iTaSC::ACT_ALPHA|iTaSC::ACT_FEEDBACK;
			values->feedback = (iktarget->simulation) ? ikparam->feedback : ANIM_FEEDBACK;
			values++;
		}
		if (iktarget->controlType & iTaSC::CopyPose::CTL_ROTATION) {
			// update error
			values->alpha = condata->orientweight;
			values->action = iTaSC::ACT_ALPHA|iTaSC::ACT_FEEDBACK;
			values->feedback = (iktarget->simulation) ? ikparam->feedback : ANIM_FEEDBACK;
			values++;
		}
	}
	return true;
}

static void copypose_error(const iTaSC::ConstraintValues* values, unsigned int nvalues, IK_Target* iktarget)
{
	iTaSC::ConstraintSingleValue* value;
	double error;
	int i;

	if (iktarget->controlType & iTaSC::CopyPose::CTL_POSITION) {
		// update error
		for (i=0, error=0.0, value=values->values; i<values->number; ++i, ++value)
			error += KDL::sqr(value->y - value->yd);
		iktarget->blenderConstraint->lin_error = (float)KDL::sqrt(error);
		values++;
	}
	if (iktarget->controlType & iTaSC::CopyPose::CTL_ROTATION) {
		// update error
		for (i=0, error=0.0, value=values->values; i<values->number; ++i, ++value)
			error += KDL::sqr(value->y - value->yd);
		iktarget->blenderConstraint->rot_error = (float)KDL::sqrt(error);
		values++;
	}
}

static bool distance_callback(const iTaSC::Timestamp& timestamp, iTaSC::ConstraintValues* const _values, unsigned int _nvalues, void* _param)
{
	IK_Target* iktarget =(IK_Target*)_param;
	bKinematicConstraint *condata = (bKinematicConstraint *)iktarget->blenderConstraint->data;
	iTaSC::ConstraintValues* values = _values;
	bItasc* ikparam = (bItasc*) iktarget->owner->pose->ikparam;
	// we need default parameters
	if (!ikparam) 
		ikparam = &DefIKParam;

	// update weight according to mode
	if (iktarget->blenderConstraint->flag & CONSTRAINT_OFF) {
		values->alpha = 0.0;
	} else {
		switch (condata->mode) {
		case LIMITDIST_INSIDE:
			values->alpha = (values->values[0].y > condata->dist) ? condata->weight : 0.0;
			break;
		case LIMITDIST_OUTSIDE:
			values->alpha = (values->values[0].y < condata->dist) ? condata->weight : 0.0;
			break;
		default:
			values->alpha = condata->weight;
			break;
		}	
		if (!timestamp.substep) {
			// only update value on first timestep
			switch (condata->mode) {
			case LIMITDIST_INSIDE:
				values->values[0].yd = condata->dist*0.95;
				break;
			case LIMITDIST_OUTSIDE:
				values->values[0].yd = condata->dist*1.05;
				break;
			default:
				values->values[0].yd = condata->dist;
				break;
			}
			values->values[0].action = iTaSC::ACT_VALUE|iTaSC::ACT_FEEDBACK;
			values->feedback = (iktarget->simulation) ? ikparam->feedback : ANIM_FEEDBACK;
		}
	}
	values->action |= iTaSC::ACT_ALPHA;
	return true;
}

static void distance_error(const iTaSC::ConstraintValues* values, unsigned int _nvalues, IK_Target* iktarget)
{
	iktarget->blenderConstraint->lin_error = (float)(values->values[0].y - values->values[0].yd);
}

static bool joint_callback(const iTaSC::Timestamp& timestamp, iTaSC::ConstraintValues* const _values, unsigned int _nvalues, void* _param)
{
	IK_Channel* ikchan = (IK_Channel*)_param;
	bItasc* ikparam = (bItasc*)ikchan->owner->pose->ikparam;
	bPoseChannel* chan = ikchan->pchan;
	int dof;

	// a channel can be splitted into multiple joints, so we get called multiple
	// times for one channel (this callback is only for 1 joint in the armature)
	// the IK_JointTarget structure is shared between multiple joint constraint
	// and the target joint values is computed only once, remember this in jointValid
	// Don't forget to reset it before each frame
	if (!ikchan->jointValid) {
		float rmat[3][3];

		if (chan->rotmode > 0) {
			/* euler rotations (will cause gimble lock, but this can be alleviated a bit with rotation orders) */
			eulO_to_mat3( rmat,chan->eul, chan->rotmode);
		}
		else if (chan->rotmode == ROT_MODE_AXISANGLE) {
			/* axis-angle - stored in quaternion data, but not really that great for 3D-changing orientations */
			axis_angle_to_mat3( rmat,&chan->quat[1], chan->quat[0]);
		}
		else {
			/* quats are normalised before use to eliminate scaling issues */
			normalize_qt(chan->quat);
			quat_to_mat3( rmat,chan->quat);
		}
		KDL::Rotation jointRot(
			rmat[0][0], rmat[1][0], rmat[2][0],
			rmat[0][1], rmat[1][1], rmat[2][1],
			rmat[0][2], rmat[1][2], rmat[2][2]);
		GetJointRotation(jointRot, ikchan->jointType, ikchan->jointValue);
		ikchan->jointValid = 1;
	}
	// determine which part of jointValue is used for this joint
	// closely related to the way the joints are defined
	switch (ikchan->jointType & ~IK_TRANSY)
	{
	case IK_XDOF:
	case IK_YDOF:
	case IK_ZDOF:
		dof = 0;
		break;
	case IK_XDOF|IK_YDOF:
		// X + Y
		dof = (_values[0].id == iTaSC::Armature::ID_JOINT_RX) ? 0 : 1;
		break;
	case IK_SWING:
		// XZ
		dof = 0;
		break;
	case IK_YDOF|IK_ZDOF:
		// Z + Y
		dof = (_values[0].id == iTaSC::Armature::ID_JOINT_RZ) ? 0 : 1;
		break;
	case IK_SWING|IK_YDOF:
		// XZ + Y
		dof = (_values[0].id == iTaSC::Armature::ID_JOINT_RY) ? 2 : 0;
		break;
	case IK_REVOLUTE:
		dof = 0;
		break;
	default:
		dof = -1;
		break;
	}
	if (dof >= 0) {
		for (unsigned int i=0; i<_nvalues; i++, dof++) {
			_values[i].values[0].yd = ikchan->jointValue[dof];
			_values[i].alpha = chan->ikrotweight;
			_values[i].feedback = ikparam->feedback;
		}
	}
	return true;
}

// build array of joint corresponding to IK chain
static int convert_channels(IK_Scene *ikscene, PoseTree *tree)
{
	IK_Channel *ikchan;
	bPoseChannel *pchan;
	int a, flag, njoint;

	njoint = 0;
	for(a=0, ikchan = ikscene->channels; a<ikscene->numchan; ++a, ++ikchan) {
		pchan= tree->pchan[a];
		ikchan->pchan = pchan;
		ikchan->parent = (a>0) ? tree->parent[a] : -1;
		ikchan->owner = ikscene->blArmature;
		
		/* set DoF flag */
		flag = 0;
		if(!(pchan->ikflag & BONE_IK_NO_XDOF) && !(pchan->ikflag & BONE_IK_NO_XDOF_TEMP) && 
			(!(pchan->ikflag & BONE_IK_XLIMIT) || pchan->limitmin[0]<0.f || pchan->limitmax[0]>0.f))
			flag |= IK_XDOF;
		if(!(pchan->ikflag & BONE_IK_NO_YDOF) && !(pchan->ikflag & BONE_IK_NO_YDOF_TEMP) &&
			(!(pchan->ikflag & BONE_IK_YLIMIT) || pchan->limitmin[1]<0.f || pchan->limitmax[1]>0.f))
			flag |= IK_YDOF;
		if(!(pchan->ikflag & BONE_IK_NO_ZDOF) && !(pchan->ikflag & BONE_IK_NO_ZDOF_TEMP) &&
			(!(pchan->ikflag & BONE_IK_ZLIMIT) || pchan->limitmin[2]<0.f || pchan->limitmax[2]>0.f))
			flag |= IK_ZDOF;
		
		if(tree->stretch && (pchan->ikstretch > 0.0)) {
			flag |= IK_TRANSY;
		}
		/*
		Logic to create the segments:
		RX,RY,RZ = rotational joints with no length
		RY(tip) = rotational joints with a fixed length arm = (0,length,0)
		TY = translational joint on Y axis
		F(pos) = fixed joint with an arm at position pos 
		Conversion rule of the above flags:
		-   ==> F(tip)
		X   ==> RX(tip)
		Y   ==> RY(tip)
		Z   ==> RZ(tip)
		XY  ==> RX+RY(tip)
		XZ  ==> RX+RZ(tip)
		YZ  ==> RZ+RY(tip)
		XYZ ==> full spherical unless there are limits, in which case RX+RZ+RY(tip)
		In case of stretch, tip=(0,0,0) and there is an additional TY joint
		The frame at last of these joints represents the tail of the bone. 
		The head is computed by a reverse translation on Y axis of the bone length
		or in case of TY joint, by the frame at previous joint.
		In case of separation of bones, there is an additional F(head) joint

		Computing rest pose and length is complicated: the solver works in world space
		Here is the logic:
		rest position is computed only from bone->bone_mat.
		bone length is computed from bone->length multiplied by the scaling factor of
		the armature. Non-uniform scaling will give bad result!

		*/
		switch (flag & (IK_XDOF|IK_YDOF|IK_ZDOF))
		{
		default:
			ikchan->jointType = 0;
			ikchan->ndof = 0;
			break;
		case IK_XDOF:
			// RX only, get the X rotation
			ikchan->jointType = IK_XDOF;
			ikchan->ndof = 1;
			break;
		case IK_YDOF:
			// RY only, get the Y rotation
			ikchan->jointType = IK_YDOF;
			ikchan->ndof = 1;
			break;
		case IK_ZDOF:
			// RZ only, get the Zz rotation
			ikchan->jointType = IK_ZDOF;
			ikchan->ndof = 1;
			break;
		case IK_XDOF|IK_YDOF:
			ikchan->jointType = IK_XDOF|IK_YDOF;
			ikchan->ndof = 2;
			break;
		case IK_XDOF|IK_ZDOF:
			// RX+RZ
			ikchan->jointType = IK_SWING;
			ikchan->ndof = 2;
			break;
		case IK_YDOF|IK_ZDOF:
			// RZ+RY
			ikchan->jointType = IK_ZDOF|IK_YDOF;
			ikchan->ndof = 2;
			break;
		case IK_XDOF|IK_YDOF|IK_ZDOF:
			// spherical joint
			if (pchan->ikflag & (BONE_IK_XLIMIT|BONE_IK_YLIMIT|BONE_IK_ZLIMIT))
				// decompose in a Swing+RotY joint
				ikchan->jointType = IK_SWING|IK_YDOF;
			else
				ikchan->jointType = IK_REVOLUTE;
			ikchan->ndof = 3;
			break;
		}
		if (flag & IK_TRANSY) {
			ikchan->jointType |= IK_TRANSY;
			ikchan->ndof++;
		}
		njoint += ikchan->ndof;
	}
	// njoint is the joint coordinate, create the Joint Array
	ikscene->jointArray.resize(njoint);
	ikscene->numjoint = njoint;
	return njoint;
}

// compute array of joint value corresponding to current pose
static void convert_pose(IK_Scene *ikscene)
{
	KDL::Rotation boneRot;
	bPoseChannel *pchan;
	IK_Channel *ikchan;
	Bone *bone;
	float rmat[4][4];	// rest pose of bone with parent taken into account
	float bmat[4][4];	// difference
	float scale;
	double *rot;
	int a, joint;

	// assume uniform scaling and take Y scale as general scale for the armature
	scale = len_v3(ikscene->blArmature->obmat[1]);
	rot = &ikscene->jointArray(0);
	for(joint=a=0, ikchan = ikscene->channels; a<ikscene->numchan && joint<ikscene->numjoint; ++a, ++ikchan) {
		pchan= ikchan->pchan;
		bone= pchan->bone;
		
		if (pchan->parent) {
			unit_m4(bmat);
			mul_m4_m4m3(bmat, pchan->parent->pose_mat, bone->bone_mat);
		} else {
			copy_m4_m4(bmat, bone->arm_mat);
		}
		invert_m4_m4(rmat, bmat);
		mul_m4_m4m4(bmat, pchan->pose_mat, rmat);
		normalize_m4(bmat);
		boneRot.setValue(bmat[0]);
		GetJointRotation(boneRot, ikchan->jointType, rot);
		if (ikchan->jointType & IK_TRANSY) {
			// compute actual length 
			rot[ikchan->ndof-1] = len_v3v3(pchan->pose_tail, pchan->pose_head) * scale;
		} 
		rot += ikchan->ndof;
		joint += ikchan->ndof;
	}
}

// compute array of joint value corresponding to current pose
static void rest_pose(IK_Scene *ikscene)
{
	bPoseChannel *pchan;
	IK_Channel *ikchan;
	Bone *bone;
	float scale;
	double *rot;
	int a, joint;

	// assume uniform scaling and take Y scale as general scale for the armature
	scale = len_v3(ikscene->blArmature->obmat[1]);
	// rest pose is 0 
	KDL::SetToZero(ikscene->jointArray);
	// except for transY joints
	rot = &ikscene->jointArray(0);
	for(joint=a=0, ikchan = ikscene->channels; a<ikscene->numchan && joint<ikscene->numjoint; ++a, ++ikchan) {
		pchan= ikchan->pchan;
		bone= pchan->bone;

		if (ikchan->jointType & IK_TRANSY)
			rot[ikchan->ndof-1] = bone->length*scale;
		rot += ikchan->ndof;
		joint += ikchan->ndof;
	}
}

static IK_Scene* convert_tree(Scene *blscene, Object *ob, bPoseChannel *pchan)
{
	PoseTree *tree = (PoseTree*)pchan->iktree.first;
	PoseTarget *target;
	bKinematicConstraint *condata;
	bConstraint *polarcon;
	bItasc *ikparam;
	iTaSC::Armature* arm;
	iTaSC::Scene* scene;
	IK_Scene* ikscene;
	IK_Channel* ikchan;
	KDL::Frame initPose;
	KDL::Rotation boneRot;
	Bone *bone;
	int a, numtarget;
	unsigned int t;
	float length;
	bool ret = true, ingame;
	double *rot;

	if (tree->totchannel == 0)
		return NULL;

	ikscene = new IK_Scene;
	ikscene->blscene = blscene;
	arm = new iTaSC::Armature();
	scene = new iTaSC::Scene();
	ikscene->channels = new IK_Channel[tree->totchannel];
	ikscene->numchan = tree->totchannel;
	ikscene->armature = arm;
	ikscene->scene = scene;
	ikparam = (bItasc*)ob->pose->ikparam;
	ingame = (ob->pose->flag & POSE_GAME_ENGINE);
	if (!ikparam) {
		// you must have our own copy
		ikparam = &DefIKParam;
	} else if (ingame) {
		// tweak the param when in game to have efficient stepping
		// using fixed substep is not effecient since frames in the GE are often
		// shorter than in animation => move to auto step automatically and set
		// the target substep duration via min/max
		if (!(ikparam->flag & ITASC_AUTO_STEP)) {
			float timestep = blscene->r.frs_sec_base/blscene->r.frs_sec;
			if (ikparam->numstep > 0)
				timestep /= ikparam->numstep;
			// with equal min and max, the algorythm will take this step and the indicative substep most of the time
			ikparam->minstep = ikparam->maxstep = timestep;
			ikparam->flag |= ITASC_AUTO_STEP;
		}
	}
	if ((ikparam->flag & ITASC_SIMULATION) && !ingame)
		// no cache in animation mode
		ikscene->cache = new iTaSC::Cache();

	switch (ikparam->solver) {
	case ITASC_SOLVER_SDLS:
		ikscene->solver = new iTaSC::WSDLSSolver();
		break;
	case ITASC_SOLVER_DLS:
		ikscene->solver = new iTaSC::WDLSSolver();
		break;
	default:
		delete ikscene;
		return NULL;
	}
	ikscene->blArmature = ob;

	std::string  joint;
	std::string  root("root");
	std::string  parent;
	std::vector<double> weights;
	double weight[3];
	// assume uniform scaling and take Y scale as general scale for the armature
	float scale = len_v3(ob->obmat[1]);
	// build the array of joints corresponding to the IK chain
	convert_channels(ikscene, tree);
	if (ingame) {
		// in the GE, set the initial joint angle to match the current pose
		// this will update the jointArray in ikscene
		convert_pose(ikscene);
	} else {
		// in Blender, the rest pose is always 0 for joints
		rest_pose(ikscene);
	}
	rot = &ikscene->jointArray(0);
	for(a=0, ikchan = ikscene->channels; a<tree->totchannel; ++a, ++ikchan) {
		pchan= ikchan->pchan;
		bone= pchan->bone;

		KDL::Frame tip(iTaSC::F_identity);
		Vector3 *fl = bone->bone_mat;
		KDL::Rotation brot(
						   fl[0][0], fl[1][0], fl[2][0],
						   fl[0][1], fl[1][1], fl[2][1],
						   fl[0][2], fl[1][2], fl[2][2]);
		KDL::Vector bpos(bone->head[0], bone->head[1], bone->head[2]);
		bpos = bpos*scale;
		KDL::Frame head(brot, bpos);
		
		// rest pose length of the bone taking scaling into account
		length= bone->length*scale;
		parent = (a > 0) ? ikscene->channels[tree->parent[a]].tail : root;
		// first the fixed segment to the bone head
		if (head.p.Norm() > KDL::epsilon || head.M.GetRot().Norm() > KDL::epsilon) {
			joint = bone->name;
			joint += ":H";
			ret = arm->addSegment(joint, parent, KDL::Joint::None, 0.0, head);
			parent = joint;
		}
		if (!(ikchan->jointType & IK_TRANSY)) {
			// fixed length, put it in tip
			tip.p[1] = length;
		}
		joint = bone->name;
		weight[0] = (1.0-pchan->stiffness[0]);
		weight[1] = (1.0-pchan->stiffness[1]);
		weight[2] = (1.0-pchan->stiffness[2]);
		switch (ikchan->jointType & ~IK_TRANSY)
		{
		case 0:
			// fixed bone
			if (!(ikchan->jointType & IK_TRANSY)) {
				joint += ":F";
				ret = arm->addSegment(joint, parent, KDL::Joint::None, 0.0, tip);
			}
			break;
		case IK_XDOF:
			// RX only, get the X rotation
			joint += ":RX";
			ret = arm->addSegment(joint, parent, KDL::Joint::RotX, rot[0], tip);
			weights.push_back(weight[0]);
			break;
		case IK_YDOF:
			// RY only, get the Y rotation
			joint += ":RY";
			ret = arm->addSegment(joint, parent, KDL::Joint::RotY, rot[0], tip);
			weights.push_back(weight[1]);
			break;
		case IK_ZDOF:
			// RZ only, get the Zz rotation
			joint += ":RZ";
			ret = arm->addSegment(joint, parent, KDL::Joint::RotZ, rot[0], tip);
			weights.push_back(weight[2]);
			break;
		case IK_XDOF|IK_YDOF:
			joint += ":RX";
			ret = arm->addSegment(joint, parent, KDL::Joint::RotX, rot[0]);
			weights.push_back(weight[0]);
			if (ret) {
				parent = joint;
				joint = bone->name;
				joint += ":RY";
				ret = arm->addSegment(joint, parent, KDL::Joint::RotY, rot[1], tip);
				weights.push_back(weight[1]);
			}
			break;
		case IK_SWING:
			joint += ":SW";
			ret = arm->addSegment(joint, parent, KDL::Joint::Swing, rot[0], tip);
			weights.push_back(weight[0]);
			weights.push_back(weight[2]);
			break;
		case IK_YDOF|IK_ZDOF:
			// RZ+RY
			joint += ":RZ";
			ret = arm->addSegment(joint, parent, KDL::Joint::RotZ, rot[0]);
			weights.push_back(weight[2]);
			if (ret) {
				parent = joint;
				joint = bone->name;
				joint += ":RY";
				ret = arm->addSegment(joint, parent, KDL::Joint::RotY, rot[1], tip);
				weights.push_back(weight[1]);
			}
			break;
		case IK_SWING|IK_YDOF:
			// decompose in a Swing+RotY joint
			joint += ":SW";
			ret = arm->addSegment(joint, parent, KDL::Joint::Swing, rot[0]);
			weights.push_back(weight[0]);
			weights.push_back(weight[2]);
			if (ret) {
				parent = joint;
				joint = bone->name;
				joint += ":RY";
				ret = arm->addSegment(joint, parent, KDL::Joint::RotY, rot[2], tip);
				weights.push_back(weight[1]);
			}
			break;
		case IK_REVOLUTE:
			joint += ":SJ";
			ret = arm->addSegment(joint, parent, KDL::Joint::Sphere, rot[0], tip);
			weights.push_back(weight[0]);
			weights.push_back(weight[1]);
			weights.push_back(weight[2]);
			break;
		}
		if (ret && (ikchan->jointType & IK_TRANSY)) {
			parent = joint;
			joint = bone->name;
			joint += ":TY";
			ret = arm->addSegment(joint, parent, KDL::Joint::TransY, rot[ikchan->ndof-1]);
			float ikstretch = pchan->ikstretch*pchan->ikstretch;
			weight[1] = (1.0-MIN2(1.0-ikstretch, 0.99));
			weights.push_back(weight[1]);
		}
		if (!ret)
			// error making the armature??
			break;
		// joint points to the segment that correspond to the bone per say
		ikchan->tail = joint;
		ikchan->head = parent;
		// in case of error
		ret = false;
		if ((ikchan->jointType & IK_XDOF) && (pchan->ikflag & (BONE_IK_XLIMIT|BONE_IK_ROTCTL))) {
			joint = bone->name;
			joint += ":RX";
			if (pchan->ikflag & BONE_IK_XLIMIT) {
				if (arm->addLimitConstraint(joint, 0, pchan->limitmin[0], pchan->limitmax[0]) < 0)
					break;
			}
			if (pchan->ikflag & BONE_IK_ROTCTL) {
				if (arm->addConstraint(joint, joint_callback, ikchan, false, false) < 0)
					break;
			}
		}
		if ((ikchan->jointType & IK_YDOF) && (pchan->ikflag & (BONE_IK_YLIMIT|BONE_IK_ROTCTL))) {
			joint = bone->name;
			joint += ":RY";
			if (pchan->ikflag & BONE_IK_YLIMIT) {
				if (arm->addLimitConstraint(joint, 0, pchan->limitmin[1], pchan->limitmax[1]) < 0)
					break;
			}
			if (pchan->ikflag & BONE_IK_ROTCTL) {
				if (arm->addConstraint(joint, joint_callback, ikchan, false, false) < 0)
					break;
			}
		}
		if ((ikchan->jointType & IK_ZDOF) && (pchan->ikflag & (BONE_IK_ZLIMIT|BONE_IK_ROTCTL))) {
			joint = bone->name;
			joint += ":RZ";
			if (pchan->ikflag & BONE_IK_ZLIMIT) {
				if (arm->addLimitConstraint(joint, 0, pchan->limitmin[2], pchan->limitmax[2]) < 0)
					break;
			}
			if (pchan->ikflag & BONE_IK_ROTCTL) {
				if (arm->addConstraint(joint, joint_callback, ikchan, false, false) < 0)
					break;
			}
		}
		if ((ikchan->jointType & IK_SWING) && (pchan->ikflag & (BONE_IK_XLIMIT|BONE_IK_ZLIMIT|BONE_IK_ROTCTL))) {
			joint = bone->name;
			joint += ":SW";
			if (pchan->ikflag & BONE_IK_XLIMIT) {
				if (arm->addLimitConstraint(joint, 0, pchan->limitmin[0], pchan->limitmax[0]) < 0)
					break;
			}
			if (pchan->ikflag & BONE_IK_ZLIMIT) {
				if (arm->addLimitConstraint(joint, 1, pchan->limitmin[2], pchan->limitmax[2]) < 0)
					break;
			}
			if (pchan->ikflag & BONE_IK_ROTCTL) {
				if (arm->addConstraint(joint, joint_callback, ikchan, false, false) < 0)
					break;
			}
		}
		if ((ikchan->jointType & IK_REVOLUTE) && (pchan->ikflag & BONE_IK_ROTCTL)) {
			joint = bone->name;
			joint += ":SJ";
			if (arm->addConstraint(joint, joint_callback, ikchan, false, false) < 0)
				break;
		}
		//  no error, so restore
		ret = true;
		rot += ikchan->ndof;
	}
	if (!ret) {
		delete ikscene;
		return NULL;
	}
	// for each target, we need to add an end effector in the armature
	for (numtarget=0, polarcon=NULL, ret = true, target=(PoseTarget*)tree->targets.first; target; target=(PoseTarget*)target->next) {
		condata= (bKinematicConstraint*)target->con->data;
		pchan = tree->pchan[target->tip];

		if (is_cartesian_constraint(target->con)) {
			// add the end effector
			IK_Target* iktarget = new IK_Target();
			ikscene->targets.push_back(iktarget);
			iktarget->ee = arm->addEndEffector(ikscene->channels[target->tip].tail);
			if (iktarget->ee == -1) {
				ret = false;
				break;
			}
			// initialize all the fields that we can set at this time
			iktarget->blenderConstraint = target->con;
			iktarget->channel = target->tip;
			iktarget->simulation = (ikparam->flag & ITASC_SIMULATION);
			iktarget->rootChannel = ikscene->channels[0].pchan;
			iktarget->owner = ob;
			iktarget->targetName = pchan->bone->name;
			iktarget->targetName += ":T:";
			iktarget->targetName += target->con->name;
			iktarget->constraintName = pchan->bone->name;
			iktarget->constraintName += ":C:";
			iktarget->constraintName += target->con->name;
			numtarget++;
			if (condata->poletar)
				// this constraint has a polar target
				polarcon = target->con;
		}
	}
	// deal with polar target if any
	if (numtarget == 1 && polarcon) {
		ikscene->polarConstraint = polarcon;
	}
	// we can now add the armature
	// the armature is based on a moving frame. 
	// initialize with the correct position in case there is no cache
	base_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, ikscene);
	ikscene->base = new iTaSC::MovingFrame(initPose);
	ikscene->base->setCallback(base_callback, ikscene);
	std::string armname;
	armname = ob->id.name;
	armname += ":B";
	ret = scene->addObject(armname, ikscene->base);
	armname = ob->id.name;
	armname += ":AR";
	if (ret)
		ret = scene->addObject(armname, ikscene->armature, ikscene->base);
	if (!ret) {
		delete ikscene;
		return NULL;
	}
	// set the weight
	e_matrix& Wq = arm->getWq();
	assert(Wq.cols() == (int)weights.size());
	for (int q=0; q<Wq.cols(); q++)
		Wq(q,q)=weights[q];
	// get the inverse rest pose frame of the base to compute relative rest pose of end effectors
	// this is needed to handle the enforce parameter
	// ikscene->pchan[0] is the root channel of the tree
	// if it has no parent, then it's just the identify Frame
	float invBaseFrame[4][4];
	pchan = ikscene->channels[0].pchan;
	if (pchan->parent) {
		// it has a parent, get the pose matrix from it 
		float baseFrame[4][4];
		pchan = pchan->parent;	
		copy_m4_m4(baseFrame, pchan->bone->arm_mat);
		// move to the tail and scale to get rest pose of armature base
		copy_v3_v3(baseFrame[3], pchan->bone->arm_tail);
		invert_m4_m4(invBaseFrame, baseFrame);
	} else {
		unit_m4(invBaseFrame);
	}
	// finally add the constraint
	for (t=0; t<ikscene->targets.size(); t++) {
		IK_Target* iktarget = ikscene->targets[t];
		iktarget->blscene = blscene;
		condata= (bKinematicConstraint*)iktarget->blenderConstraint->data;
		pchan = tree->pchan[iktarget->channel];
		unsigned int controltype, bonecnt;
		double bonelen;
		float mat[4][4];

		// add the end effector
		// estimate the average bone length, used to clamp feedback error
		for (bonecnt=0, bonelen=0.f, a=iktarget->channel; a>=0; a=tree->parent[a], bonecnt++)
			bonelen += scale*tree->pchan[a]->bone->length;
		bonelen /= bonecnt;		

		// store the rest pose of the end effector to compute enforce target
		copy_m4_m4(mat, pchan->bone->arm_mat);
		copy_v3_v3(mat[3], pchan->bone->arm_tail);
		// get the rest pose relative to the armature base
		mul_m4_m4m4(iktarget->eeRest, mat, invBaseFrame);
		iktarget->eeBlend = (!ikscene->polarConstraint && condata->type==CONSTRAINT_IK_COPYPOSE) ? true : false;
		// use target_callback to make sure the initPose includes enforce coefficient
		target_callback(iTaSC::Timestamp(), iTaSC::F_identity, initPose, iktarget);
		iktarget->target = new iTaSC::MovingFrame(initPose);
		iktarget->target->setCallback(target_callback, iktarget);
		ret = scene->addObject(iktarget->targetName, iktarget->target);
		if (!ret)
			break;

		switch (condata->type) {
		case CONSTRAINT_IK_COPYPOSE:
			controltype = 0;
			if (condata->flag & CONSTRAINT_IK_ROT) {
				if (!(condata->flag & CONSTRAINT_IK_NO_ROT_X))
					controltype |= iTaSC::CopyPose::CTL_ROTATIONX;
				if (!(condata->flag & CONSTRAINT_IK_NO_ROT_Y))
					controltype |= iTaSC::CopyPose::CTL_ROTATIONY;
				if (!(condata->flag & CONSTRAINT_IK_NO_ROT_Z))
					controltype |= iTaSC::CopyPose::CTL_ROTATIONZ;
			}
			if (condata->flag & CONSTRAINT_IK_POS) {
				if (!(condata->flag & CONSTRAINT_IK_NO_POS_X))
					controltype |= iTaSC::CopyPose::CTL_POSITIONX;
				if (!(condata->flag & CONSTRAINT_IK_NO_POS_Y))
					controltype |= iTaSC::CopyPose::CTL_POSITIONY;
				if (!(condata->flag & CONSTRAINT_IK_NO_POS_Z))
					controltype |= iTaSC::CopyPose::CTL_POSITIONZ;
			}
			if (controltype) {
				iktarget->constraint = new iTaSC::CopyPose(controltype, controltype, bonelen);
				// set the gain
				if (controltype & iTaSC::CopyPose::CTL_POSITION)
					iktarget->constraint->setControlParameter(iTaSC::CopyPose::ID_POSITION, iTaSC::ACT_ALPHA, condata->weight);
				if (controltype & iTaSC::CopyPose::CTL_ROTATION)
					iktarget->constraint->setControlParameter(iTaSC::CopyPose::ID_ROTATION, iTaSC::ACT_ALPHA, condata->orientweight);
				iktarget->constraint->registerCallback(copypose_callback, iktarget);
				iktarget->errorCallback = copypose_error;
				iktarget->controlType = controltype;
				// add the constraint
				if (condata->flag & CONSTRAINT_IK_TARGETAXIS)
					ret = scene->addConstraintSet(iktarget->constraintName, iktarget->constraint, iktarget->targetName, armname, "", ikscene->channels[iktarget->channel].tail);
				else
					ret = scene->addConstraintSet(iktarget->constraintName, iktarget->constraint, armname, iktarget->targetName, ikscene->channels[iktarget->channel].tail);
			}
			break;
		case CONSTRAINT_IK_DISTANCE:
			iktarget->constraint = new iTaSC::Distance(bonelen);
			iktarget->constraint->setControlParameter(iTaSC::Distance::ID_DISTANCE, iTaSC::ACT_VALUE, condata->dist);
			iktarget->constraint->registerCallback(distance_callback, iktarget);
			iktarget->errorCallback = distance_error;
			// we can update the weight on each substep
			iktarget->constraint->substep(true);
			// add the constraint
			ret = scene->addConstraintSet(iktarget->constraintName, iktarget->constraint, armname, iktarget->targetName, ikscene->channels[iktarget->channel].tail);
			break;
		}
		if (!ret)
			break;
	}
	if (!ret ||
		!scene->addCache(ikscene->cache) ||
		!scene->addSolver(ikscene->solver) ||
		!scene->initialize()) {
		delete ikscene;
		ikscene = NULL;
	}
	return ikscene;
}

static void create_scene(Scene *scene, Object *ob)
{
	bPoseChannel *pchan;

	// create the IK scene
	for(pchan= (bPoseChannel *)ob->pose->chanbase.first; pchan; pchan= (bPoseChannel *)pchan->next) {
		// by construction there is only one tree
		PoseTree *tree = (PoseTree*)pchan->iktree.first;
		if (tree) {
			IK_Data* ikdata = get_ikdata(ob->pose);
			// convert tree in iTaSC::Scene
			IK_Scene* ikscene = convert_tree(scene, ob, pchan);
			if (ikscene) {
				ikscene->next = ikdata->first;
				ikdata->first = ikscene;
			}
			// delete the trees once we are done
			while(tree) {
				BLI_remlink(&pchan->iktree, tree);
				BLI_freelistN(&tree->targets);
				if(tree->pchan) MEM_freeN(tree->pchan);
				if(tree->parent) MEM_freeN(tree->parent);
				if(tree->basis_change) MEM_freeN(tree->basis_change);
				MEM_freeN(tree);
				tree = (PoseTree*)pchan->iktree.first;
			}
		}
	}
}

static void init_scene(Object *ob)
{
	if (ob->pose->ikdata) {
		for(IK_Scene* scene = ((IK_Data*)ob->pose->ikdata)->first;
			scene != NULL;
			scene = scene->next) {
			scene->channels[0].pchan->flag |= POSE_IKTREE;
		}
	}
}

static void execute_scene(Scene* blscene, IK_Scene* ikscene, bItasc* ikparam, float ctime, float frtime)
{
	int i;
	IK_Channel* ikchan;
	if (ikparam->flag & ITASC_SIMULATION) {
		for (i=0, ikchan=ikscene->channels; i<ikscene->numchan; i++, ++ikchan) {
			// In simulation mode we don't allow external contraint to change our bones, mark the channel done
			// also tell Blender that this channel is part of IK tree (cleared on each where_is_pose()
			ikchan->pchan->flag |= (POSE_DONE|POSE_CHAIN);
			ikchan->jointValid = 0;
		}
	} else {
		// in animation mode, we must get the bone position from action and constraints
		for(i=0, ikchan=ikscene->channels; i<ikscene->numchan; i++, ++ikchan) {
			if (!(ikchan->pchan->flag & POSE_DONE))
				where_is_pose_bone(blscene, ikscene->blArmature, ikchan->pchan, ctime, 1);
			// tell blender that this channel was controlled by IK, it's cleared on each where_is_pose()
			ikchan->pchan->flag |= (POSE_DONE|POSE_CHAIN);
			ikchan->jointValid = 0;
		}
	}
	// only run execute the scene if at least one of our target is enabled
	for (i=ikscene->targets.size(); i > 0; --i) {
		IK_Target* iktarget = ikscene->targets[i-1];
		if (!(iktarget->blenderConstraint->flag & CONSTRAINT_OFF))
			break;
	}
	if (i == 0 && ikscene->armature->getNrOfConstraints() == 0)
		// all constraint disabled
		return;

	// compute timestep
	double timestamp = ctime * frtime + 2147483.648;
	double timestep = frtime;
	bool reiterate = (ikparam->flag & ITASC_REITERATION) ? true : false;
	int numstep = (ikparam->flag & ITASC_AUTO_STEP) ? 0 : ikparam->numstep;
	bool simulation = true;

	if (ikparam->flag & ITASC_SIMULATION) {
		ikscene->solver->setParam(iTaSC::Solver::DLS_QMAX, ikparam->maxvel);
	} 
	else {
		// in animation mode we start from the pose after action and constraint
		convert_pose(ikscene);
		ikscene->armature->setJointArray(ikscene->jointArray);
		// and we don't handle velocity
		reiterate = true;
		simulation = false;
		// time is virtual, so take fixed value for velocity parameters (see itasc_update_param)
		// and choose 1s timestep to allow having velocity parameters in radiant 
		timestep = 1.0;
		// use auto setup to let the solver test the variation of the joints
		numstep = 0;
	}
		
	if (ikscene->cache && !reiterate && simulation) {
		iTaSC::CacheTS sts, cts;
		sts = cts = (iTaSC::CacheTS)(timestamp*1000.0+0.5);
		if (ikscene->cache->getPreviousCacheItem(ikscene->armature, 0, &cts) == NULL || cts == 0) {
			// the cache is empty before this time, reiterate
			if (ikparam->flag & ITASC_INITIAL_REITERATION)
				reiterate = true;
		} else {
			// can take the cache as a start point.
			sts -= cts;
			timestep = sts/1000.0;
		}
	}
	// don't cache if we are reiterating because we don't want to distroy the cache unnecessarily
	ikscene->scene->update(timestamp, timestep, numstep, false, !reiterate, simulation);
	if (reiterate) {
		// how many times do we reiterate?
		for (i=0; i<ikparam->numiter; i++) {
			if (ikscene->armature->getMaxJointChange() < ikparam->precision ||
				ikscene->armature->getMaxEndEffectorChange() < ikparam->precision)
				break;
			ikscene->scene->update(timestamp, timestep, numstep, true, false, simulation);
		}
		if (simulation) {
			// one more fake iteration to cache
			ikscene->scene->update(timestamp, 0.0, 1, true, true, true);
		}
	}
	// compute constraint error
	for (i=ikscene->targets.size(); i > 0; --i) {
		IK_Target* iktarget = ikscene->targets[i-1];
		if (!(iktarget->blenderConstraint->flag & CONSTRAINT_OFF)) {
			unsigned int nvalues;
			const iTaSC::ConstraintValues* values;
			values = iktarget->constraint->getControlParameters(&nvalues);
			iktarget->errorCallback(values, nvalues, iktarget);
		}
	}
	// Apply result to bone:
	// walk the ikscene->channels
	// for each, get the Frame of the joint corresponding to the bone relative to its parent
	// combine the parent and the joint frame to get the frame relative to armature
	// a backward translation of the bone length gives the head
	// if TY, compute the scale as the ratio of the joint length with rest pose length
	iTaSC::Armature* arm = ikscene->armature;
	KDL::Frame frame;
	double q_rest[3], q[3];
	const KDL::Joint* joint;
	const KDL::Frame* tip;
	bPoseChannel* pchan;
	float scale;
	float length;
	float yaxis[3];
	for (i=0, ikchan=ikscene->channels; i<ikscene->numchan; ++i, ++ikchan) {
		if (i == 0) {
			if (!arm->getRelativeFrame(frame, ikchan->tail))
				break;
			// this frame is relative to base, make it relative to object
			ikchan->frame = ikscene->baseFrame * frame;
		} 
		else {
			if (!arm->getRelativeFrame(frame, ikchan->tail, ikscene->channels[ikchan->parent].tail))
				break;
			// combine with parent frame to get frame relative to object
			ikchan->frame = ikscene->channels[ikchan->parent].frame * frame;
		}
		// ikchan->frame is the tail frame relative to object
		// get bone length
		if (!arm->getSegment(ikchan->tail, 3, joint, q_rest[0], q[0], tip))
			break;
		if (joint->getType() == KDL::Joint::TransY) {
			// stretch bones have a TY joint, compute the scale
			scale = (float)(q[0]/q_rest[0]);
			// the length is the joint itself
			length = (float)q[0];
		} 
		else {
			scale = 1.0f;
			// for fixed bone, the length is in the tip (always along Y axis)
			length = tip->p(1);
		}
		// ready to compute the pose mat
		pchan = ikchan->pchan;
		// tail mat
		ikchan->frame.getValue(&pchan->pose_mat[0][0]);
		VECCOPY(pchan->pose_tail, pchan->pose_mat[3]);
		// shift to head
		VECCOPY(yaxis, pchan->pose_mat[1]);
		mul_v3_fl(yaxis, length);
		sub_v3_v3v3(pchan->pose_mat[3], pchan->pose_mat[3], yaxis);
		VECCOPY(pchan->pose_head, pchan->pose_mat[3]);
		// add scale
		mul_v3_fl(pchan->pose_mat[0], scale);
		mul_v3_fl(pchan->pose_mat[1], scale);
		mul_v3_fl(pchan->pose_mat[2], scale);
	}
	if (i<ikscene->numchan) {
		// big problem
		;
	}
}

//---------------------------------------------------
// plugin interface
//
void itasc_initialize_tree(struct Scene *scene, Object *ob, float ctime)
{
	bPoseChannel *pchan;
	int count = 0;

	if (ob->pose->ikdata != NULL && !(ob->pose->flag & POSE_WAS_REBUILT)) {
		init_scene(ob);
		return;
	}
	// first remove old scene
	itasc_clear_data(ob->pose);
	// we should handle all the constraint and mark them all disabled
	// for blender but we'll start with the IK constraint alone
	for(pchan= (bPoseChannel *)ob->pose->chanbase.first; pchan; pchan= (bPoseChannel *)pchan->next) {
		if(pchan->constflag & PCHAN_HAS_IK)
			count += initialize_scene(ob, pchan);
	}
	// if at least one tree, create the scenes from the PoseTree stored in the channels 
	if (count)
		create_scene(scene, ob);
	itasc_update_param(ob->pose);
	// make sure we don't rebuilt until the user changes something important
	ob->pose->flag &= ~POSE_WAS_REBUILT;
}

void itasc_execute_tree(struct Scene *scene, struct Object *ob,  struct bPoseChannel *pchan, float ctime)
{
	if (ob->pose->ikdata) {
		IK_Data* ikdata = (IK_Data*)ob->pose->ikdata;
		bItasc* ikparam = (bItasc*) ob->pose->ikparam;
		// we need default parameters
		if (!ikparam) ikparam = &DefIKParam;

		for (IK_Scene* ikscene = ikdata->first; ikscene; ikscene = ikscene->next) {
			if (ikscene->channels[0].pchan == pchan) {
				float timestep = scene->r.frs_sec_base/scene->r.frs_sec;
				if (ob->pose->flag & POSE_GAME_ENGINE) {
					timestep = ob->pose->ctime;
					// limit the timestep to avoid excessive number of iteration
					if (timestep > 0.2f)
						timestep = 0.2f;
				}
				execute_scene(scene, ikscene, ikparam, ctime, timestep);
				break;
			}
		}
	}
}

void itasc_release_tree(struct Scene *scene, struct Object *ob,  float ctime)
{
	// not used for iTaSC
}

void itasc_clear_data(struct bPose *pose)
{
	if (pose->ikdata) {
		IK_Data* ikdata = (IK_Data*)pose->ikdata;
		for (IK_Scene* scene = ikdata->first; scene; scene = ikdata->first) {
			ikdata->first = scene->next;
			delete scene;
		}
		MEM_freeN(ikdata);
		pose->ikdata = NULL;
	}
}

void itasc_clear_cache(struct bPose *pose)
{
	if (pose->ikdata) {
		IK_Data* ikdata = (IK_Data*)pose->ikdata;
		for (IK_Scene* scene = ikdata->first; scene; scene = scene->next) {
			if (scene->cache)
				// clear all cache but leaving the timestamp 0 (=rest pose)
				scene->cache->clearCacheFrom(NULL, 1);
		}
	}
}

void itasc_update_param(struct bPose *pose)
{
	if (pose->ikdata && pose->ikparam) {
		IK_Data* ikdata = (IK_Data*)pose->ikdata;
		bItasc* ikparam = (bItasc*)pose->ikparam;
		for (IK_Scene* ikscene = ikdata->first; ikscene; ikscene = ikscene->next) {
			double armlength = ikscene->armature->getArmLength();
			ikscene->solver->setParam(iTaSC::Solver::DLS_LAMBDA_MAX, ikparam->dampmax*armlength);
			ikscene->solver->setParam(iTaSC::Solver::DLS_EPSILON, ikparam->dampeps*armlength);
			if (ikparam->flag & ITASC_SIMULATION) {
				ikscene->scene->setParam(iTaSC::Scene::MIN_TIMESTEP, ikparam->minstep);
				ikscene->scene->setParam(iTaSC::Scene::MAX_TIMESTEP, ikparam->maxstep);
				ikscene->solver->setParam(iTaSC::Solver::DLS_QMAX, ikparam->maxvel);
				ikscene->armature->setControlParameter(CONSTRAINT_ID_ALL, iTaSC::Armature::ID_JOINT, iTaSC::ACT_FEEDBACK, ikparam->feedback);
			} else {
				// in animation mode timestep is 1s by convention => 
				// qmax becomes radiant and feedback becomes fraction of error gap corrected in one iteration
				ikscene->scene->setParam(iTaSC::Scene::MIN_TIMESTEP, 1.0);
				ikscene->scene->setParam(iTaSC::Scene::MAX_TIMESTEP, 1.0);
				ikscene->solver->setParam(iTaSC::Solver::DLS_QMAX, 0.52);
				ikscene->armature->setControlParameter(CONSTRAINT_ID_ALL, iTaSC::Armature::ID_JOINT, iTaSC::ACT_FEEDBACK, 0.8);
			}
		}
	}
}

void itasc_test_constraint(struct Object *ob, struct bConstraint *cons)
{
	struct bKinematicConstraint *data = (struct bKinematicConstraint *)cons->data;

	/* only for IK constraint */
	if (cons->type != CONSTRAINT_TYPE_KINEMATIC || data == NULL)
		return;

	switch (data->type) {
	case CONSTRAINT_IK_COPYPOSE:
	case CONSTRAINT_IK_DISTANCE:
		/* cartesian space constraint */
		break;
	}
}

